Gyro baseline



y 1936- F. CARTER GYRO BASELINE Fil ed April 22, 1929 3 Sheets-Sheet l-INVENTOR [@5226 f. 04756]:

Illllllllk I l g-J TTORNEY.

May 19, 1936. CARTER 2,041,526

GYRO BASELINE Flled April 22, 1929 3 Sheets-Sheet2 INVENTOR IN ii:

lllmlm ATTORN EY.

1962 EC r2 6)? May 19, 1936. y CARTER 2,041,526

GYRO BASELINE Filed April 22, 1929 3 Sheets-Shae 3 INVENTOR ledge F047267.

-- 'ATTORNEY.

Patented .May 19, I 1936 I I i I UNITED STATES PATENT OFFICE Leslie F.fjiTh-nor, by mes'ne is, to Sperry Products, Inc., Brooklyn, N. Y., acorporation of New York Application April 22, 1929, Serial No. 358,41813 Claims. (01. 33-204) This invention relates to gyroscopes for main-Fig. 9 is a wiring diagram showing the connectaining a reference planeon amoving craft, such tions between the controllers and the torque asaship, train or aircraft, especially through means. the maintenance of ahorizontal plane for de- In the embodiment shown, the gyroscopecomtecting the tilt of the vehicle about either or both prises thecasing I within which is journaled a 5 horizontal axes. My inventionrelates particurotor (not shown) for spinning about a vertical larlytoovercoming the disturbing effects of acaxis. The casing is pivoted inthe usual manner celeration forces on the gyro system, ,whereby foroscillation about both horizontal axes in line turning of the vehicle onwhich the device is with and at right angles to the direction of travelmounted or change of speed of the same will not of the vehicle. In Fig.1 the vehicle is repre-. 10

afiect the baseline. My gyroscopic system comsented as travelling in thedirection of the arrow, prises essentially a non-pendulous gyroscopehavthe inner gimbal axis 2 of. the gyro being parallel ing three degreesof freedom and which is conthereto, the gimbal ring 3 being in turnjournaled trolled by torque applying devices about one or on thetransverse axis 4-4 in the supporting both of its horizontal axes ofsupport. Said brackets 55 (Fig.2). Aloop or bail 6 is shown 15torque-applying devices in turn are controlled as journaled on thehorizontal axis 1 in line with from an auxiliary pendulum or pendulumsand axis 2 in fixed brackets 8, said loop being conare adapted to bebrought into action upon tilt of nected to the gyro by means of rollers8' on stem the vehicle in either plane with respect to the 9 rising fromthe gyro which takes in the U'-- 2o pendulum. The gyroscope having threedegrees shaped trackway ill of the loop. An arm ll is of freedom willtend to maintain its plane in shown as rising from said loop to which isatspace, but on account of the rotation of. the earth, tached anysuitable indicator or recording means friction, and other causes willtend to wander for indicating the tilt of the vehicle transverse to fromthe vertical. With my torque-applying systhe line of travel of the same.lhus, a' recording tem, however, the gyro is maintained in the ver-. penattached to the arm II on a railway car 25 tical without complicatedcompensating mechawould act as a cross leveling indicator, recordingnisms. Ihave found, however, that such systems whether or not the tworails were at the same cause deviation of the gyroscope whenever thelevel, and if employed on a ship would record the vehicle isaccelerating in the broadest sense of roll thereof. Said arm is alsoshownas carryinga the word, 1. e., changing speed or turning,accelercontact sector I 2 with which the trolley IS on the 30 ationbeing any variation from a state of rest or pendulum l4 contacts. Saidpendulum is shown uniform motion in a straight line. During such aspivoted on an axis I5 in line with the aforesaid periods, therefore, Iprefer to render inoperative axes 2 and l, the trolley normally bearingon the such torque-applying mechanisms and for this dead section betweenthe contacts, so that when purpose I provide a means for detecting theturnthe car tilts laterally, the trolley will roll onone 35 mg of thevehicle and change of speed of the or the other of the live contacts l6and I1 (Fig.

vehicle for controlling the cut-out means. 9) and complete a circuitthrough the relay I8 Referring to the drawings in which the pre- (Fig.6) and thence to the torque-applyingldeferred form of the invention isshown, vice l1, 18 adapted to apply torque about the 40 Fig. 1 is a sideelevation, partly in section, of transverse axis of the gyro at rightangles to the 40 my gyro vertical. axis of. the pendulum l4. Saidpendulum is heav- Fig. 2 is a front elevation of the same. ily damped byvane 90 which takes in an oil pot K Fig. 3 is a plan view, partly insection, of a 9| secured to the pendulum. speed-changing andturn-detecting means. I also provide a similar arm 29 rising from theFig. 4 is an end elevation, partly in section, of gimbal ring 3 whichmay carry an indicator or 45 the speed-changing detecting means.recording pen (not shown), which may be con- Fig. 5 is a detail of theswitch-operating mechnected to the arm at point 22 and which will anismof the speed-change detecting means. record or show the grade of thetrack, it employed Fig. 6 is a side view of the'delayed action relay ona railway'car, or the pitch of a ship if ememployed between the contactson the pendulum ployed on a vessel or airplane. Said arm is also 50 andthe torque-applying devices. shown as carrying the contacts li' ll'similar Fig. 7 is a detailed end elevation of a portion to contacts l6and I1 above referred to, which coof the tum-indicating gyroscope.operate with a trolley l3 on the pendulum ll Fig.8isaside view ofanother form of accelerapivoted on an axis 23 in line with axis 4-4 oftion detecting means.- the gyroscope. Said contacts are in circuit withthe torque-applying device l9, l8 acting about the longitudinal axis ofthe gyroscope.

As indicated above, however, I place delayedaction relays orotherdelayed-action device between the aforesaid contacts and thetorqueapplying devices in order to prevent the closing of the solenoidcircuits by the short period disturbances of the pendulums. Each of thetwo relays may take the form shown in Fig. 6 and comprise theelectro-magnets 24 and 25 in circuit respectively with contacts l6 andI1. Pivoted on the frame of said magnets is armature 26.

Flexibly secured to said armature adjacent the gimbal point is a springcontact strip 21, having at each end contacts 28-28. Also secured tosaid armature is a spring wire loop 30 which takes around a pin 3!secured to the lever 32 pivoted at 33. Said lever is pinned adjacenteach end to piston 33 of a one-way dash-pot cylinder 34, which isadapted for slow downward movement. When, therefore, the armature 26 isfirst tilted by the excitation of one or the other of magnets 24-25,contact is not completed between contact 28,"for instance, and lowercontact 28, but the continued pressure through the spring loop 38 on thepin 3| gradually tilts the lever 32 against the action of the dash-pot34 and finally brings the stop 35 on the piston 33 into contact with thefree end of the spring 21, finally pushing the spring down to close thecontact 28-28. By such means, brief disturbances of the pendulum willnot disturb the gyroscope. The relay contacts 28, 28 in turn areconnected to the torque applying means 11, 18 hereinafter described. Itwill be understood that such a relay [8, comprising electromagnets 24,25' controlling contacts 28', 28, is also placed between the contacts l6and I1 and the torque applying means l9, l8 about the other axis of thegyroscope.

For detecting turning of the vehicle, I have shown a small turnindicator gyroscope 38 with two degrees of freedom. Preferably thespinning axis 31 of the gyroscope is normally horizontal and placedlaterally on the car, the gyro pivots 38 being placed longitudinally .onthe car, the gyro precessing around horizontal axis 38 when the carenters a curve. Preferably the direction of rotation of the gyroscope issuch that direction of precession is opposite to the direction'of cartilt so that both factors work together to open the contacts actuatedthereby. Said contacts are shown in the form of spring contact arms 89,40 (Fig. '7) fixed on the base 4| of the gyroscope and against which apin 42 fixed to the gyro case is adapted to strike or press as the gyroprecesses. For detecting change of speed of the vehicle, I may employ a.device actuated from any part of the vehicle which is rotated by theforward movement thereof, for instance, in the case of a car ,the shaft50 (Figs. 3 and 4) may be actuated from the car axle. Said shaft isshown as connected to any standard form of speedometer 5| throughsuitable reduction gearing 5!. Such devices are known articles ofcommerce and need not be described in detail. In place of the usualindicating hand on such speedometer, I mount a contact arm 52 adapted tocontact with the split ring 53. Said ring is also rotatably mounted onthe top of the speedometer and is shown as provided with gear teeth 54with which meshes a worm 55. Said worm is driven from a small motor 58through the worm shaft 51', the motor being in circuit with theaforesaid contacts and split ring so that the split ring will bemaintained with its insulated section underneath the trolley.

The motor, therefore, only runs when there is a change of speed. I,therefore, make use of this fact to break a contact when the motor isrunning which throws out of operation the torque-applying devices. Forthis purpose I have shown spring-pressed contacts 51 normally in circuitwith said devices, the leaf springs being normally biased to maintainthe contacts open. The contacts are normally maintained closed, however,by the pin 58 pressed forwardly by the compression spring 58 so as tobear against the arm 60 which in turn holds the contacts closed. Saidpin is shown as mounted in a stem or sleeve 8| secured to the end of themotor shaft 56". On said stem is swiveled at 62 spaced arms 83 betweenwhich are journaled at their outer ends centrifugal masses 54. Betweensaid arms are also placed cross or stop pins 85-88. The former is shownas hearing against cross pin 81 in the stem 58. It will readily be seenthat when the motor shaft revolves, the centrifugal action on the masses64 will cause the arm 63 to rotate clockwise in Fig. 5 and pressdownwardly on the cross pin 61 to permit opening of the contact.

In place of a speed-detecting means of this character, I may employmercury tubes, such as shown in Fig. 8. In this form a pair of sealedtubes 10 and 1| are employed, each containing a'small amount of mercury.Sealed within each of said tubes at different ends are a pair ofelectric contacts 12-13. Normally the mercury contacts with bothelements of each pair so that the circuit is closed. Upon an increase inspeed of the car in the direction of the arrow, for instance, themercury will flow in the opposite direction breaking contact between theelements of contacts 13, while if deceleration takes place, contact willbe broken between elements 12. Both contacts may be placed in series asthe purpose is to deenergize the torque-applying devices upon eitherincrease or decrease in velocity. The outer ends of the tube support 80'are shown as adjustably supported between clamp screws 14 and 15 so thattheir levels may be accurately set.

The torque-applying devices themselves are shown as consisting of twopairs of solenoids 11, 18 and IE, IS secured to the fixed base of thegyroscope, the solenoids IS, IS acting on the gyroscope through a pairof arc-shaped cores 19, 80, which extend part way within said solenoids.Upon excitation of either solenoid it will readily be seen that apowerful torque is exerted on the gyroscope. Solenoids 11, 18 actthrough similar cores about the other axis. Solenoids 11, 18 are shownmounted on fixed base 5 by brackets 82 (see Fig. 2), while solenoids l9,I9 are shown mounted on fixed brackets 8 by brackets 83.

In accordance with the provisions of the patent statutes, I have hereindescribed the principle and operation of my invention, together with theapparatus which I now consider to represent the best embodiment thereof,but I desire to have it understood that the apparatus, shown is onlyillustrative and that the invention can be carried out by other means.Also, while it is designed to use the various features and elements inthe combination and relations described, some of these may be alteredand others omitted without interfering with the more general resultsoutlined, and the invention extends to such use.

Having described my invention, what I claim and desire to secure byLetters Patent is:

1. Means for maintaining a fixed reference plane on a moving craftcomprising a non-pendulous gyro having a normally vertical spin axis,

6. Means for maintaining a ,flxed reference a mounting for said gyroproviding three degrees of freedom, pendulous means for detectingdeviations of said gyro axis from the vertical. means controlled by saidpendulous means for opposing said deviations and restoring said axis tothe vertical, means for rendering said pendulous means ineffective tocontrol said restoring means, and means whereby said means for renderingsaid pendulous means ineffective is controlled by change of speed orcourse of the craft. 1

2. Means for maintaining a fixed reference plane on a moving craftcomprising a non-pendulous gyro, having a normally vertical spin axis, amounting for said gyro providing three degrees of freedom, pendulousmeans for detecting deviations of said gyro axis from the vertical,means controlled by said pendulous means for applying a torque about anaxis at right angles to the a s of deviation for opposing said deviationan restoring said axis to the vertical, means for rendering saidpendulous means ineffective to control said restoring means, and meanswhereby said means for rendering said pendulous means ineffective iscontrolled by change of speed or course of the craft.

3. Means for maintaining a fixed reference plane on a moving craftcomprising a non-pendulous gyro having a normally vertical spin axis, amounting for said gyro providing freedom of oscillation about the foreand aft and transverse axes of the craft, a plurality of dampedpendulums for detecting deviations of said gyro axis from the verticalabout each of said axes, means controlled by said pendulums for opposingsaid,

deviations and restoring said axis to the vertical, said last-:namedmeans comprising a plurality of pairs of torque-applying devices, onepair for each of said pendulums, and means whereby the one of saiddevices controlled by the transversely pivoted pendulum is renderedineffective by the change of speed of the craft.

4. Means for maintaining a fixed reference plane on a moving craftcomprising a non-pendulous gyro having a normally vertical spin axis, amounting for said gyro providing freedom of oscillation about the foreand aft and transverse axes of the craft, a. plurality of dampedpendulums for detecting deviations of said gyro axis'from ther of saiddevices is rendered inoperative by turning of the craft.

5. Means for maintaining a fixed reference plane on a moving craftcomprising a non-pendulous gyro having a normally vertical spin axis, amounting for said gyro providing freedom of oscillation about the foreand aft and transverse axes of the craft, a plurality of damped pendulumfor detecting deviations of said gyro axis from the vertical about eachof said axes, means controlled by said pendulum for opposing saiddeviations and restoring said axis to the vertical, said last-namedmeans comprising a plurality of pairs v of torque-applying devices, onepair for each of said pendulums, and means whereby the one of saiddevices controlled by the longitudinally pivoted pendulum is renderedineffective by the turning of the craft.

plane on a moving craft comprising a non-pendulolls gyro having anormally vertical spin axis,

a mounting for said gyro providing three degrees of freedom, a pluralityof pendulousmeans for detecting deviations of said gyro axis from thevertical, means controlled by said pendulous means for opposing saiddeviations and restoring said axis to the vertical, said last-namedmeans comprising a plurality of pairs of solenoids, one pair for each ofsaid pendulous means, and means whereby one of a pair of said solenoidsis rendered effective to apply a torque by the respective pilndulousmeans upon deviation of said gyro a s.-

7. Means for maintaining a fixed reference plane on a moving craftcomprising a nonpendulous gyro having a normally verticalspin axis, amounting for said gyro providing three degrees of freedom, a pluralityof pendulous means for detecting-deviations of said gyro axis from thevertical, means controlled by said pendulous means for opposing saiddeviations and restoring said axis to the vertical, and means wherebyone of said pendulous means is rendered ineffective to control saidrestoring means during turning of the craft, said last-named meansincluding an electric circuit, a gyro mounted with two degrees offreedom to respond to turning of the craft, and means wherebysaid gyrobreaks said circuit upon turning of the craft.

8. Means for maintaining a fixed reference plane on a moving craftcomprising a non-pendulous gyro having a normally vertical spin axis, amounting for said gyro providing three degrees of freedom, a pluralityof pendulous means for detecting deviations of said gyro axis from thevertical, means controlled by said pendulous means for opposing saiddeviations and restoring said axis to the vertical, and means wherebyone of said pendulous means is'rendered ineffective to control saidrestoring means during change of speed of the craft including meansbrought into action by change of speed of the craft, and. meanscontrolled thereby for temporarily rendering said restoring meansinoperative.

9. In a gyro base-line for moving vehicles, the combination with agyroscope having three degrees of freedom, of means for supporting themovable with respect to said gyroscope so as not to affect theequilibrium of the gyroscope or to be affected by the movements of saidgyroscope, a source of power controlled thereby, and means whereby thepower from said source is directly applied to said gyroscope as acontrolling torque.

10. .In a gyro base-line for moving vehicles, the combination with agyroscope having three degrees of freedom, of means for supporting'thesame, a pendulous device mounted independently movable with respect tosaid gyroscope so as not to affect the equilibrium of the gyroscope orto be affected by the movements of said gyroscope, a source of powercontrolled thereby for applying a controlling torque on the gyroscope,and means for rendering ineffective the control oflsaid source of powerfrom said device during acceleration of the vehicle. )1?

11. In a gyro base-line for moving vehicles, the combination with agyroscope/of means for supsame, a pendulous device mounted independentlyi porting the same upon a plurality of axes so as to have three degreesof freedom in connection with its spinning axis, a plurality ofpendulous devices operating about said supporting axes and mounted scopeso as not to affect the equilibrium of the gyroscope or to be affectedby the movements of said gyroscope, a plurality of sources of powercontrolled by the respective pendulous devices, and means whereby powerfrom said sources is applied directly to the gyroscope as controllingtorques about said axes of support.

12. In a gyro base-line, the combination with a neutral gyroscope, ofmeans for supporting the same, means for applying controlling torques onsaid gyroscope, including means mounted to be independently movablerelative to said gyroscope so as not to affect the equilibrium of saidgyroscope or to be affected by the movements of said gyroscope, andautomatic means for rendering said torque-applying means inoperativeduring acceleration of the craft.

13. In a gyro-baseline, the combination with a neutral gyroscope, ofmeans for supporting the same, means for applying controlling torques onsaid gyroscope, including means mounted to be independently movablerelative to said gyroscope so as not to afiect the equilibrium of saidgyroscope or to be affected by the movements of said gyroscope, saidtorque-applying means including an electric circuit, and automatic meansfor rendering said torque-applying means inoperative during accelerationof the craft, including a change-of-speed-responsive mechanism and meansbrought into action by movement of said mechanism for controlling saidcircuit to render said torque-applying means inoperative.

LESLIE F. CARTER.

